@inproceedings{384b9167944642c9b62109760868e541,
title = "Trajectory tracking of a quadrotor helicopter based on L1 adaptive control",
abstract = "This paper presents an L1 adaptive controller to achieve the trajectory tracking for a quadrotor helicopter. The designed controller is based on nonlinear feed-forward compensations and uses a typical nonlinear quadrotor model considering uncertain inertial parameters and external disturbances. The L1 adaptive control design is slightly modified to comply with the position error dynamic and the attitude dynamic. The proposed L1 adaptive controller yields uniformly verifiable bounds on the transient and steady state tracking error for any designated bounded reference trajectory. In the presence of a fast adaptation, the adaptive controller with low-pass filters compensates for uncertainties and bounded disturbances in a particular frequency range. Finally, simulation results are included to validate the effectiveness of this control design.",
keywords = "L Adaptive, Low-pass Filters, Quadrotor, Trajectory Tracking",
author = "Li Min and Zuo Zongyu and Sun Donglei and Wang Chunyan and Wang Wei",
note = "Publisher Copyright: {\textcopyright} 2016 IEEE.; 7th IEEE Chinese Guidance, Navigation and Control Conference, CGNCC 2016 ; Conference date: 12-08-2016 Through 14-08-2016",
year = "2017",
month = jan,
day = "20",
doi = "10.1109/CGNCC.2016.7829077",
language = "英语",
series = "CGNCC 2016 - 2016 IEEE Chinese Guidance, Navigation and Control Conference",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "1887--1892",
booktitle = "CGNCC 2016 - 2016 IEEE Chinese Guidance, Navigation and Control Conference",
address = "美国",
}